{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:2KM2SKB3SIQFVNHHCBI35WNQPC","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"5cfef93fd070ed766c0141fab8b8d154910dca3e14405f584b9099269de58a39","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-04-20T20:24:17Z","title_canon_sha256":"ad17cd880d81f9b7cf6682d54269a239854a19a92e908b24858ab2480155b4f1"},"schema_version":"1.0","source":{"id":"1704.06325","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1704.06325","created_at":"2026-05-18T00:39:52Z"},{"alias_kind":"arxiv_version","alias_value":"1704.06325v2","created_at":"2026-05-18T00:39:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1704.06325","created_at":"2026-05-18T00:39:52Z"},{"alias_kind":"pith_short_12","alias_value":"2KM2SKB3SIQF","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_16","alias_value":"2KM2SKB3SIQFVNHH","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_8","alias_value":"2KM2SKB3","created_at":"2026-05-18T12:30:55Z"}],"graph_snapshots":[{"event_id":"sha256:cb475dea1e26243a49d9c7a2abe2453de6153dd265af89349b07756a35d2de17","target":"graph","created_at":"2026-05-18T00:39:52Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed to a road-aligned coordinate frame with path along the road centerline replacing time as the dependent variable. Space-varying vehicle dimension constraints are linearized around a reference path to pose convex optimization problems. Such constraints do not require to inflate obstacles by safety-margins and therefore maximize performance in very constrained","authors_text":"Alberto Bemporad, Bo Wahlberg, Jonas Martensson, Mogens Graf Plessen, Pedro F. Lima","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-04-20T20:24:17Z","title":"Trajectory Planning Under Vehicle Dimension Constraints Using Sequential Linear Programming"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.06325","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:37e6bb311f86e19adcf9d1d1154aef64479afeec371aaf84ceb90dd6dcefd1e9","target":"record","created_at":"2026-05-18T00:39:52Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"5cfef93fd070ed766c0141fab8b8d154910dca3e14405f584b9099269de58a39","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-04-20T20:24:17Z","title_canon_sha256":"ad17cd880d81f9b7cf6682d54269a239854a19a92e908b24858ab2480155b4f1"},"schema_version":"1.0","source":{"id":"1704.06325","kind":"arxiv","version":2}},"canonical_sha256":"d299a9283b92205ab4e71051bed9b07890c553272ae76cbec5fb4858ca064abe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d299a9283b92205ab4e71051bed9b07890c553272ae76cbec5fb4858ca064abe","first_computed_at":"2026-05-18T00:39:52.413008Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:39:52.413008Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gmpqcDhyGOQFjF4T6wlMvKSr079MJHWdCg4NAF91/ULuYR40FB9lUMcQv4z9LvSYXRdfAzLAGI7hnGDZkHjrDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:39:52.413477Z","signed_message":"canonical_sha256_bytes"},"source_id":"1704.06325","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:37e6bb311f86e19adcf9d1d1154aef64479afeec371aaf84ceb90dd6dcefd1e9","sha256:cb475dea1e26243a49d9c7a2abe2453de6153dd265af89349b07756a35d2de17"],"state_sha256":"4d944346a26906f62da9f124eebbe95e2c724de39f2c144707966725e55c7c13"}